From ab6c9b7909f4702ce4b5b3efd97f6df2df480a56 Mon Sep 17 00:00:00 2001 From: Balduin Date: Thu, 12 Mar 2026 20:30:22 +0100 Subject: [PATCH] docs(ekf2): clarify EKF2_HGT_REF param description (#26725) * docs(ekf2): clarify EKF2_HGT_REF param description To me it was not obvious that with EKF2_GPS_CTRL=0 this altitude initialisation based on GPS again does not apply. * docs(ekf2): separate paragraph --- src/modules/ekf2/module.yaml | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/modules/ekf2/module.yaml b/src/modules/ekf2/module.yaml index b0462ec5f8..edd89e8457 100644 --- a/src/modules/ekf2/module.yaml +++ b/src/modules/ekf2/module.yaml @@ -92,8 +92,10 @@ parameters: by this parameter. The range sensor and vision options should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level. - If GPS is set as reference but altitude fusion is disabled in EKF2_GPS_CTRL, - the GPS altitude is still used to initiaize the bias of the other height sensors. + + If GPS is set as reference and EKF2_GPS_CTRL is not 0, the GPS altitude is + still used to initiaize the bias of the other height sensors, regardless of + the altitude fusion bit in EKF2_GPS_CTRL. type: enum values: 0: Barometric pressure